/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/******************************************************************************
 * NOTE 1:  This project provides two demo applications.  A simple blinky style
 * project, and a more comprehensive test and demo application.  The
 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
 * between the two.  See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
 * in main.c.  This file implements the comprehensive test and demo version.
 *
 * NOTE 2:  This file only contains the source code that is specific to the
 * full demo.  Generic functions, such FreeRTOS hook functions, and functions
 * required to configure the hardware, are defined in main.c.
 *
 ******************************************************************************
 *
 * main_full() creates all the demo application tasks and software timers, then
 * starts the scheduler.  The web documentation provides more details of the
 * standard demo application tasks, which provide no particular functionality,
 * but do provide a good example of how to use the FreeRTOS API.
 *
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Reg test" tasks - These fill both the core registers with known values, then
 * check that each register maintains its expected value for the lifetime of the
 * task.  Each task uses a different set of values.  The reg test tasks execute
 * with a very low priority, so get preempted very frequently.  A register
 * containing an unexpected value is indicative of an error in the context
 * switching mechanism.
 *
 * "Check" task - The check executes every three seconds.  It checks that all
 * the standard demo tasks, and the register check tasks, are not only still
 * executing, but are executing without reporting any errors.  The check task
 * toggles the LED every three seconds if all the standard demo tasks are
 * executing as expected, or every 500ms if a potential error is discovered in
 * any task.
 */

/* Standard includes. */
#include <stdio.h>
#include <string.h>

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "semphr.h"

/* Standard demo application includes. */
#include "dynamic.h"
#include "blocktim.h"
#include "TimerDemo.h"
#include "TaskNotify.h"

/* Priorities for the demo application tasks. */
#define mainCHECK_TASK_PRIORITY             ( configMAX_PRIORITIES - 1 )

/* The period of the check task, in ms, converted to ticks using the
 * pdMS_TO_TICKS() macro.  mainNO_ERROR_CHECK_TASK_PERIOD is used if no errors have
 * been found, mainERROR_CHECK_TASK_PERIOD is used if an error has been found. */
#define mainNO_ERROR_CHECK_TASK_PERIOD      pdMS_TO_TICKS( 3000UL )
#define mainERROR_CHECK_TASK_PERIOD         pdMS_TO_TICKS( 500UL )

/* Parameters that are passed into the register check tasks solely for the
 * purpose of ensuring parameters are passed into tasks correctly. */
#define mainREG_TEST_TASK_1_PARAMETER       ( ( void * ) 0x12345678 )
#define mainREG_TEST_TASK_2_PARAMETER       ( ( void * ) 0x87654321 )

/* The base period used by the timer test tasks. */
#define mainTIMER_TEST_PERIOD               ( 50 )

/* The size of the stack allocated to the check task (as described in the
 * comments at the top of this file. */
#define mainCHECK_TASK_STACK_SIZE_WORDS     100

/* Size of the stacks to allocated for the register check tasks. */
#define mainREG_TEST_STACK_SIZE_WORDS       70

/* Success output messages. This is used by the CI - do not change. */
#define mainDEMO_SUCCESS_MESSAGE            "FreeRTOS Demo SUCCESS\r\n"
/*-----------------------------------------------------------*/

/*
 * Called by main() to run the full demo (as opposed to the blinky demo) when
 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
 */
void main_full( void );

/*
 * The check task, as described at the top of this file.
 */
static void prvCheckTask( void *pvParameters );

/*
 * Register check tasks as described at the top of this file.  The nature of
 * these files necessitates that they are written in an assembly file, but the
 * entry points are kept in the C file for the convenience of checking the task
 * parameter.
 */
static void prvRegTestTaskEntry1( void *pvParameters );
extern void vRegTest1Implementation( void );
static void prvRegTestTaskEntry2( void *pvParameters );
extern void vRegTest2Implementation( void );

/*
 * Tick hook used by the full demo, which includes code that interacts with
 * some of the tests.
 */
void vFullDemoTickHook( void );

/*-----------------------------------------------------------*/

/* The following two variables are used to communicate the status of the
 * register check tasks to the check task.  If the variables keep incrementing,
 * then the register check tasks have not discovered any errors.  If a variable
 * stops incrementing, then an error has been found. */
uint32_t ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
volatile uint32_t *pulRegTest1LoopCounter = &ulRegTest1LoopCounter;
volatile uint32_t *pulRegTest2LoopCounter = &ulRegTest2LoopCounter;
/*-----------------------------------------------------------*/

void main_full( void )
{
    /* Start all the other standard demo/test tasks.  They have no particular
     * functionality, but do demonstrate how to use the FreeRTOS API and test the
     * kernel port. */
    vCreateBlockTimeTasks();
    vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
    vStartDynamicPriorityTasks();
    vStartTaskNotifyTask();

    /* Create the register check tasks, as described at the top of this    file.
     * Use xTaskCreateStatic() to create a task using only statically allocated
     * memory. */
    xTaskCreate( prvRegTestTaskEntry1,          /* The function that implements the task. */
                 "Reg1",                        /* The name of the task. */
                 mainREG_TEST_STACK_SIZE_WORDS, /* Size of stack to allocate for the task - in words not bytes!. */
                 mainREG_TEST_TASK_1_PARAMETER, /* Parameter passed into the task. */
                 tskIDLE_PRIORITY,              /* Priority of the task. */
                 NULL );                        /* Can be used to pass out a handle to the created task. */
    xTaskCreate( prvRegTestTaskEntry2, "Reg2", mainREG_TEST_STACK_SIZE_WORDS, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );

    /* Create the task that performs the 'check' functionality, as described at
     * the top of this file. */
    xTaskCreate( prvCheckTask, "Check", mainCHECK_TASK_STACK_SIZE_WORDS, NULL, mainCHECK_TASK_PRIORITY, NULL );

    /* Start the scheduler. */
    vTaskStartScheduler();

    /* If all is well, the scheduler will now be running, and the following
     * line will never be reached.  If the following line does execute, then
     * there was insufficient FreeRTOS heap memory available for the Idle and/or
     * timer tasks to be created.  See the memory management section on the
     * FreeRTOS web site for more details on the FreeRTOS heap
     * http://www.freertos.org/a00111.html. */
    for( ;; );
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
TickType_t xLastExecutionTime;
uint32_t ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
char * const pcPassMessage = mainDEMO_SUCCESS_MESSAGE;
char * pcStatusMessage = pcPassMessage;
extern void vToggleLED( void );

    /* Just to stop compiler warnings. */
    ( void ) pvParameters;

    /* Demo start marker. */
    configPRINT_STRING( "FreeRTOS Demo Start\r\n" );

    /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
     * works correctly. */
    xLastExecutionTime = xTaskGetTickCount();

    /* Cycle for ever, delaying then checking all the other tasks are still
     * operating without error.  The onboard LED is toggled on each iteration.
     * If an error is detected then the delay period is decreased from
     * mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD.  This has the
     * effect of increasing the rate at which the onboard LED toggles, and in so
     * doing gives visual feedback of the system status. */
    for( ;; )
    {
        /* Delay until it is time to execute again. */
        vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );

        /* Check all the demo tasks (other than the flash tasks) to ensure
         * that they are all still running, and that none have detected an error. */
        if( xAreDynamicPriorityTasksStillRunning() == pdFALSE )
        {
            pcStatusMessage = "FreeRTOS Demo ERROR: Dynamic priority demo/tests.\r\n";
        }

        if( xAreBlockTimeTestTasksStillRunning() == pdFALSE )
        {
            pcStatusMessage = "FreeRTOS Demo ERROR: Block time demo/tests.\r\n";
        }

        if( xAreTimerDemoTasksStillRunning( ( TickType_t ) xDelayPeriod ) == pdFALSE )
        {
            pcStatusMessage = "FreeRTOS Demo ERROR: Timer demo/tests.\r\n";
        }

        if( xAreTaskNotificationTasksStillRunning() == pdFALSE )
        {
            pcStatusMessage = "FreeRTOS Demo ERROR: Task notification demo/tests.\r\n";
        }

        /* Check that the register test 1 task is still running. */
        if( ulLastRegTest1Value == ulRegTest1LoopCounter )
        {
            pcStatusMessage = "FreeRTOS Demo ERROR: Register test 1.\r\n";
        }
        ulLastRegTest1Value = ulRegTest1LoopCounter;

        /* Check that the register test 2 task is still running. */
        if( ulLastRegTest2Value == ulRegTest2LoopCounter )
        {
            pcStatusMessage = "FreeRTOS Demo ERROR: Register test 2.\r\n";
        }
        ulLastRegTest2Value = ulRegTest2LoopCounter;

        /* Write the status message to the UART and toggle the LED to show the
         * system status if the UART is not connected. */
        vToggleLED();

        /* If an error has been found then increase the LED toggle rate by
         * increasing the cycle frequency. */
        if( pcStatusMessage != pcPassMessage )
        {
            xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
        }

        configPRINT_STRING( pcStatusMessage );
    }
}
/*-----------------------------------------------------------*/

static void prvRegTestTaskEntry1( void *pvParameters )
{
    /* Although the regtest task is written in assembler, its entry point is
     * written in C for convenience of checking the task parameter is being passed
     * in correctly. */
    if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
    {
        /* Start the part of the test that is written in assembler. */
        vRegTest1Implementation();
    }

    /* The following line will only execute if the task parameter is found to
     * be incorrect.  The check task will detect that the regtest loop counter is
     * not being incremented and flag an error. */
    vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvRegTestTaskEntry2( void *pvParameters )
{
    /* Although the regtest task is written in assembler, its entry point is
     * written in C for convenience of checking the task parameter is being passed
     * in correctly. */
    if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
    {
        /* Start the part of the test that is written in assembler. */
        vRegTest2Implementation();
    }

    /* The following line will only execute if the task parameter is found to
     * be incorrect.  The check task will detect that the regtest loop counter is
     * not being incremented and flag an error. */
    vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

void vFullDemoTickHook( void )
{
    /* Called from vApplicationTickHook() when the project is configured to
     * build the full test/demo applications. */

    /* Use task notifications from an interrupt. */
    xNotifyTaskFromISR();
}
/*-----------------------------------------------------------*/
